#ifndef _SPEED_H_
#define _SPEED_H_

struct pid_parameter
{
    float target_speed; //目标速度
    float kp;           //比例增益
    float ki;           //积分增益
    float kd;           //微分增益
    float err;          //误差
    float err_last;     //上次误差 
    float integral;     //积分
    float throttle;     //油门开度
};

extern int global_speed;

void * thread_speed(void *);

#endif